01 - Combine warm milk, melted butter, and sugar in a large bowl. Sprinkle yeast on top and let sit for 5–10 minutes until foamy.
02 - Add eggs and salt to the yeast mixture and whisk to combine. Gradually incorporate flour until a soft dough forms.
03 - Knead dough on a lightly floured surface for 6–8 minutes until smooth and elastic. Place in greased bowl, cover, and let rise in a warm place for 1 hour or until doubled in size.
04 - Preheat oven to 350°F (175°C). Grease a 9x13-inch baking dish.
05 - Roll dough into a 16x12-inch rectangle. Spread softened butter evenly over the surface.
06 - Mix brown sugar and cinnamon, then sprinkle over the buttered dough.
07 - Starting from the long side, roll dough tightly into a log. Slice into 12 equal pieces.
08 - Arrange rolls in prepared baking dish. Cover and let rise for 30 minutes until puffy.
09 - Bake rolls for 22–25 minutes until golden brown.
10 - While baking, beat cream cheese and butter until smooth. Add powdered sugar, vanilla, and milk; mix until creamy.
11 - Spread glaze over warm rolls before serving.